Force fault a vdev with 'zpool offline -f'

This patch adds a '-f' option to 'zpool offline' to fault a vdev
instead of bringing it offline.  Unlike the OFFLINE state, the
FAULTED state will trigger the FMA code, allowing for things like
autoreplace and triggering the slot fault LED.  The -f faults
persist across imports, unless they were set with the temporary
(-t) flag.  Both persistent and temporary faults can be cleared
with zpool clear.

Reviewed-by: Brian Behlendorf <[email protected]>
Signed-off-by: Tony Hutter <[email protected]>
Closes #6094 

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